Stability Analysis and Experimental Validation of a Motion-Copying System
Yokokura, Y.
Katsura, S.
Ohishi, K.
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2009
Volume: 56,
Issue: 10
On page(s): 3906-3913
ISSN: 0278-0046
INSPEC Accession Number: 10869380
Digital Object Identifier: 10.1109/TIE.2009.2027927
First Published: 2009-07-28
Current Version Published: 2009-09-15
Abstract
This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates displacement of the poles with the transition of the environment. Moreover, the experiment with respect to environmental changing is carried out. These results confirm theoretically and experimentally that the motion-copying system is stable even if the environment is changed. The haptic informational processing technique by the motion-copying system is useful for industrial applications and medical engineering.
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